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Experiments and simulations of the standing wave acoustic field produced by two transducers mounted in contraposition

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Proceedings of Meetings on Acoustics 2017年第1期32卷

作者： Huijuan Dong Longfei Jia Yingzi Guan Jie Zhao 1School of Mechatronics Engineering Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA dhj@*** 2Chongqing Vocational College of Transportation Chongqing CHINA ***@*** 3School of Astronautics Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA guanyz@*** 4The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA jzhao@***

Acoustic standing wave levitation transmission technique has been widely used in many research areas. In this work, two Langevin-type piezoelectric transducers’ output are assembled face to face at a certain angle. Each transducer’s output acts as both its radiator and another transducer’s reflector. The authors termed it as contraposition transducer array. Standing acoustic wave in the cavity between the radiator and the reflector is formed when optimizing the angle between the central lines of the two transducers, the distance of the cavity, and the phase differential of the generator being used to excite the two transducers. Accordingly, the object during the acoustic field can be levitated, moved and manipulated. Not only the standing acoustic field pressure is theoretically derived, but also its potential location is Ansys-programmed simulated and illustrated. As a result, the restrictions are detailed which are necessary to form the standing acoustic wave. The corresponding experiments are carried out to demonstrate the proposed method by the authors. Finally, the influences of geometrical parameters and exciting phase differential on the formed acoustic field are numerically simulated.

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High-performance wall-climbingrobot for inspection and maintenance

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Journal of Beijing Institute of Technology 2014年第3期23卷 383-389页

作者：邵洁高学山戴福全宗成国白阳郭文增李军 Intelligent Robotics Institute Beijing Institute of Technology State Key Laboratory of Robotics and System(HIT)

A wall-climbing robot that can continuously work on many types of wall surfaces has been developed. This robot based on low-vacuum adsorption principle consists of a locomotion mecha- nism, a sealing device, a fluid machine and a detecting system. The adsorption force is analyzed in details and its influencing factors are given. The robot prototype, which has the features of high ad- hesion efficiency, light body in weight, small size in structure and good capability in payload, is test- ed in outdoor and indoor environments. Through the experiments, the influences of the impeller slit and the seal clearance are discussed. In addition, the robot functions such as adsorption perform- ance, locomotion performance and wall adaptability are tested by experiments. The experiments have verified that the robot not only can climb on many types of wall surfaces, but also has outstand- ing locomotion ability and payload capacity.

关键词： wall-climbing robot low-vacuum adsorption adsorption force impeller slit seal clear-ance

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A distributed self-reconfiguration method combining Cellular Automata and L-systems

A distributed self-reconfiguration method combining Cellular...

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IEEE International Conference on robotics and Biomimetics

作者： Dongyang Bie Jie Zhao Xiaolu Wang Yanhe Zhu Yanhe Zhu Author is a professor at State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781467396769

Self-reconfiguration of self-reconfigurable robots is a fundamental primitive that can be used as part of higherlever functionality. A distributed control mechanism is proposed for self-reconfiguration, which uses the Lindenmayer systems (L-systems) for global configuration description and cellular automata for local motion planning. Turtle graphics are taken for structure interpretation of L-systems and provide moving targets for decentralized modules. The modules are led to their final positions using a gradient approach. The mechanism takes a split where distributed locomotion aspects of the control is managed by cellular automata, while global description in Lsystems. Turtle interpretations can generate module-level predictions from global description. The convergence of proposed method is verified through simulations.

关键词： moving targets decentralized verified through

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Multi-sensor control for precise assembly of optical components

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Chinese Journal of Aeronautics 2014年第3期27卷 613-621页

作者： Ma Li Rong Weibin Sun Lining School of Mechatronic Engineering and Automation Shanghai University State Key Laboratory of Robotics and System Harbin Institute of Technology

In order to perform an optical assembly accurately, a multi-sensor control strategy is developed which includes an attitude measurement system, a vision system, a loss measurement system and a force sensor. A 3-DOF attitude measuring method using linear variable differential transformers （LVDT） is designed to adjust the relation of position and attitude between the spher- ical mirror and the resonator. A micro vision feedback system is set up to extract the light beam and the diaphragm, which can achieve the coarse positioning of the spherical mirror in the optical assembly process. A rapid self-correlation method is presented to analyze the spectrum signal for the fine positioning. In order to prevent the damage of the optical components and realize sealing of the resonator, a hybrid force-position control is constructed to control the contact force of the optical components. The experimental results show that the proposed multi-sensor control strategy succeeds in accomplishing the precise assembly of the optical components, which consists of parallel adjustment, macro coarse adjustment, macro approach, micro fine adjustment, micro approach and optical contact. Therefore, the results validate the multi-sensor control strategy.

关键词： Assembly Attitude measurement Force control Multi-sensor Vision

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Cartesian path planning for base attitude adjustment of space robot

Cartesian path planning for base attitude adjustment of spac...

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IEEE International Conference on Mechatronics and Automation

作者： Minghe Jin Cheng Zhou Yechao Liu Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China

ISBN: (纸本)9781479970995

This paper presents a novel Cartesian path planning for space manipulator to achieve base (satellite) attitude adjustment and Cartesian task. The base attitude adjustment by the way of the movement of manipulator will save propellant compared with conventional attitude control system. A task-priority Reaction Null-space control method is applied to achieve the primary task to adjust attitude and secondary task to accomplish Cartesian task. Furthermore, The algorithm singularity is eliminated in the proposed algorithm compared with conventional Reaction Null-space algorithm and extended Jacobian algorithm. And the varied damping factors are introduced to avoid dynamics singularity. The simulation platform of the space robot control system based on Matlab/Simulink is built. The simulation results demonstrate the validity and feasibility of the proposed Cartesian path planning algorithm.

关键词： Aerospace electronics Jacobian matrices Manipulator dynamics Attitude control Heuristic algorithms

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Fast filtering algorithm based on vibration systems and neural information exchange and its application to micro motion robot

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Chinese Physics B 2014年第1期23卷 159-169页

作者：高娃查富生宋宝玉李满天 State Key Laboratory of Robotics and System Harbin Institute of Technology Department of Mechanical Design Harbin Institute of Technology

This paper develops a fast filtering algorithm based on vibration systems theory and neural information exchange approach. The characters, including the derivation process and parameter analysis, are discussed and the feasibility and the effectiveness are testified by the filtering performance compared with various filtering methods, such as the fast wavelet transform algorithm, the particle filtering method and our previously developed single degree of freedom vibration system filtering algorithm, according to simulation and practical approaches. Meanwhile, the comparisons indicate that a significant advantage of the proposed fast filtering algorithm is its extremely fast filtering speed with good filtering perfi^rmance. Further, the developed fast filtering algorithm is applied to the navigation and positioning system of the micro motion robot, which is a high real-time requirement for the signals preprocessing. Then, the preprocessing data is used to estimate the heading angle error and the attitude angle error of the micro motion robot. The estimation experiments illustrate the high practicality of the proposed fast filtering algorithm.

关键词： fast filtering vibration system neural information exchange micro motion robot

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Biomimetic Design and Optimal Swing of a Hexapod Robot Leg

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Journal of Bionic Engineering 2014年第1期11卷 26-35页

作者： Jie Chen Yubin Liu Jie Zhao He Zhang Hongzhe Jin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China

Biological inspiration has spawned a wealth of solutions to both mechanical design and control schemes in the efforts to develop agile legged machines. This paper presents a compliant leg mechanism for a small six-legged robot, HITCR-ll, based on abstracted anatomy from insect legs. Kinematic structure, relative proportion of leg segment lengths and actuation system were analyzed in consideration of anatomical structure as well as muscle system of insect legs and desired mobility. A spring based passive compliance mechanism inspired by musculoskeletal structures of biological systems was integrated into distal segment of the leg to soften foot impact on touchdown. In addition, an efficient locomotion planner capable of generating natural movements for the legs during swing phase was proposed. The problem of leg swing was formulated as an optimal control procedure that satisfies a series of locomotion task terms while minimizing a biologically-based objective function, which was solved by a Gauss Pseudospectral Method （GPM） based numerical technique. We applied this swing generation algorithm to both a simulation platform and a robot prototype. Results show that the proposed leg structure and swing planner are able to successfully perform effective swing movements on rugged terrains.

关键词： biomimetic design legged robot optimal control biological movement principle Gauss pseudospectral method

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Improving convergence of ICP for registering RGB-D images using hierarchical index

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Journal of Computational Information systems 2015年第1期11卷 27-35页

作者： Li, Xingdong Wang, Pengfei Zha, Fusheng Li, Mantian Guo, Wei Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

Relative 6 DOF pose transformation is necessary for registering two RGB-D images. Although the Iterative Closest Point (ICP) algorithm has been widely used to solve the relative pose, it would be enhanced significantly if the characteristic of its application object has been fully considered. This paper concentrates on improving the convergence of ICP for estimating the pose transformation between two RGB-D images, and the divergence problem is avoided. A hierarchical index is proposed to search corresponding point used by ICP. A measurement of convergence rate is firstly proposed for comparison. ©, 2014, Journal of Computational Information systems. All right reserved.

关键词： Iterative methods

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Velocity estimation for quadrupeds based on extended kalman filter

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key Engineering Materials 2014年 621卷 525-532页

作者： Li, Mantian Wang, Congwei Wang, Pengfei Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin 150001 China

ISBN: (纸本)9783038351863

Measuring robots' real-time velocity correctly is important for locomotion control. Inertial Measurement Unit (IMU) is widely used for velocity measurement. Limited by the bias and random error, IMU alone often can't meet the requirement. This paper makes use of Extended Kalman Filter (EKF) to fuse kinematics and IMU, and inhibits the drift successfully. We calibrate the bias and recognize the random errors of IMU. Then the forward kinematics of legs is established and the EKF algorithm for velocity estimation is designed based on IMU and kinematics. Finally, the presented algorithm is validated in simulation and on a quadruped robot based on hydraulic driver in trotting gait. © (2014) Trans Tech Publications, Switzerland.

关键词： Extended Kalman filters

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Design and development of a rotary serial elastic actuator for humanoid arms

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2014年 8917卷 266-277页

作者： Huo, Xijian Xia, Yanfeng Liu, Yiwei Jiang, Li Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

The paper discusses the design of a novel serial elastic actuator (SEA) which is used as the revolute joint in humanoid arms. First, characteristics and requirements of SEA are illustrated. And the elastic element is further analyzed using the design of experiment (DOE) method. Then, a discoid elastic element with larger flexibility is developed. Based on this, an integrated SEA containing the position sensors and the torque sensor is developed. And also, a 7-DOF humanoid arm with joint flexibilities is designed. Finally, experiments of SEA demonstrate the approximation of the stiffness between the desired SEA and the prototype. © Springer International Publishing Switzerland 2014.

关键词： Design of experiments

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